107 lines
2.5 KiB
C++
107 lines
2.5 KiB
C++
/**
|
|
* @file SymbolicConditional.h
|
|
* @brief Symbolic Conditional node for use in Bayes nets
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
// \callgraph
|
|
|
|
#pragma once
|
|
|
|
#include <list>
|
|
#include <string>
|
|
#include <iostream>
|
|
#include <boost/shared_ptr.hpp>
|
|
#include <boost/foreach.hpp> // TODO: make cpp file
|
|
#include <boost/serialization/list.hpp>
|
|
#include "Conditional.h"
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* Conditional node for use in a Bayes net
|
|
*/
|
|
class SymbolicConditional: public Conditional {
|
|
|
|
private:
|
|
|
|
std::list<std::string> parents_;
|
|
|
|
public:
|
|
|
|
/** convenience typename for a shared pointer to this class */
|
|
typedef boost::shared_ptr<SymbolicConditional> shared_ptr;
|
|
|
|
/**
|
|
* Empty Constructor to make serialization possible
|
|
*/
|
|
SymbolicConditional(){}
|
|
|
|
/**
|
|
* No parents
|
|
*/
|
|
SymbolicConditional(const std::string& key) :
|
|
Conditional(key) {
|
|
}
|
|
|
|
/**
|
|
* Single parent
|
|
*/
|
|
SymbolicConditional(const std::string& key, const std::string& parent) :
|
|
Conditional(key) {
|
|
parents_.push_back(parent);
|
|
}
|
|
|
|
/**
|
|
* Two parents
|
|
*/
|
|
SymbolicConditional(const std::string& key, const std::string& parent1,
|
|
const std::string& parent2) :
|
|
Conditional(key) {
|
|
parents_.push_back(parent1);
|
|
parents_.push_back(parent2);
|
|
}
|
|
|
|
/**
|
|
* A list
|
|
*/
|
|
SymbolicConditional(const std::string& key,
|
|
const std::list<std::string>& parents) :
|
|
Conditional(key), parents_(parents) {
|
|
}
|
|
|
|
/** print */
|
|
void print(const std::string& s = "SymbolicConditional") const {
|
|
std::cout << s << " P(" << key_;
|
|
if (parents_.size()>0) std::cout << " |";
|
|
BOOST_FOREACH(std::string parent, parents_) std::cout << " " << parent;
|
|
std::cout << ")" << std::endl;
|
|
}
|
|
|
|
/** check equality */
|
|
bool equals(const Conditional& c, double tol = 1e-9) const {
|
|
if (!Conditional::equals(c)) return false;
|
|
const SymbolicConditional* p = dynamic_cast<const SymbolicConditional*> (&c);
|
|
if (p == NULL) return false;
|
|
return parents_ == p->parents_;
|
|
}
|
|
|
|
/** return parents */
|
|
std::list<std::string> parents() const { return parents_;}
|
|
|
|
/** find the number of parents */
|
|
size_t nrParents() const {
|
|
return parents_.size();
|
|
}
|
|
|
|
private:
|
|
/** Serialization function */
|
|
friend class boost::serialization::access;
|
|
template<class Archive>
|
|
void serialize(Archive & ar, const unsigned int version) {
|
|
ar & boost::serialization::make_nvp("Conditional", boost::serialization::base_object<Conditional>(*this));
|
|
ar & BOOST_SERIALIZATION_NVP(parents_);
|
|
}
|
|
};
|
|
} /// namespace gtsam
|